The Karlsruhe Endoscopic Surgery Trainer as an example for virtual reality in medical education

Kühnapfel, Uwe; Kuhn, Ch.; Hübner, Michael; Krumm, Holger; Maaß, H.; Neisius, B.

doi:10.3109/13645709709152715

Cited by 53 publications

(24 citation statements)

References 1 publication

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“…The first is characterized by the use of generalpurpose haptic devices, like the Phantom or the Freedom -7, [3,4,5]. The second trend is characterized by the use of haptic devices designed for a specific operation, [6,7,8,9].…”

Section: Introductionmentioning

confidence: 99%

Mass/inertia and joint friction minimization for a low-force five-dof haptic device

Vlachos

Papadopoulos

Mitropoulos

2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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Abstract-This paper presents a design methodology, which aims at the minimization of the mass, inertia and joint friction for a low -force five -dof haptic device. The haptic device is optimized along a typical path with proper tolerances, rather than at some workspace operating point. The device, part of a training medical simulator for urological operations, consists of a two dof, 5-bar linkage and a three dof spherical joint. The requirement for reliable reproduction of low torques and forces lead to the need for minimization of device induced parasitic forces and torques. The multiobjective optimization employed is based on two objective functions that include mass/ inertia properties and joint friction. Kinematical and operational constraints are taken into account. The resulting optimized mechanism is substantially improved with respect to an existing device.

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Section: Introductionmentioning

confidence: 99%

Mass/inertia and joint friction minimization for a low-force five-dof haptic device

Vlachos

Papadopoulos

Mitropoulos

2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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“…The topology of the discretization is restricted to tensor product grids. Others, like [11] employ surface based mass-spring systems for their real-time simulators. Similar Euler type methods on regular grids are reported in [19].…”

Section: Introductionmentioning

confidence: 99%

Interactive Cuts through 3‐Dimensional Soft Tissue

Bielser

Maiwald

Groß

1999

Computer Graphics Forum

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We describe a physically based framework for real-time modeling and interactive cutting of 3-dimensional soft tissue that can be used for surgery simulation. Unlike existing approaches which are mostly designed for tensorproduct grids our methods operate on tetrahedral decompositions giving more topological and geometric flexibility for the efficient modeling of complex anatomical structures. We start from an initial tetrahedralization such as being provided by any conventional meshing method. In order to track topological changes tetrahedra intersected by the virtual scalpel are split into substructures whose connectivity follows the trajectory of the cut, which can be arbitrary. For the efficient computation of collisions between the scalpel and individual tetrahedra we devised a local collision detection algorithm. The underlying physics is approximated through masses and springs attached to each tetrahedral vertex and edge. A hierarchical Runge-Kutta iteration computes the relaxation of the system by traversing the designed data structures in a breadth-first order. The framework includes a force-feedback interface and uses real-time texture mapping to enhance the visual realism.

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“…These leading medical educators advocate the application of computer simulation in the arena of medical training. Indeed, during the past ten years medical simulation has progressed to a level of academic prototypes [12,3,18,9,4] or commercial products [13,14]. Computerized systems have enabled the recording of quantitative parameters including instrument motion and applied forces, which cannot be measured with conventional instruments alone.…”

Section: Introductionmentioning

confidence: 99%

Metrics for Laparoscopic Skills Trainers: The Weakest Link!

Cotin

Stylopoulos

Ottensmeyer

et al. 2002

Lecture Notes in Computer Science

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Abstract. Metrics are widely employed in virtual environments and provide a yardstick for performance measurement. The current method of defining metrics for medical simulation remains more an art than a science. Herein, we report a practical scientific approach to defining metrics, specifically aimed at computer-assisted laparoscopic skills training. We also propose a standardized global scoring system usable across different laparoscopic trainers and tasks. The metrics were defined in an explicit way based on the relevant skills that a laparoscopic surgeon should master. We used a five degree of freedom device and a software platform capable of 1) tracking the motion of two laparoscopic instruments 2) real time information processing and feedback provision. A validation study was performed. The results show that our metrics and scoring system represent a technically sound approach that can be easily incorporated in a computerized trainer for any task, enabling a standardized performance assessment method.

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The Karlsruhe Endoscopic Surgery Trainer as an example for virtual reality in medical education

Cited by 53 publications

References 1 publication

Mass/inertia and joint friction minimization for a low-force five-dof haptic device

Mass/inertia and joint friction minimization for a low-force five-dof haptic device

Interactive Cuts through 3‐Dimensional Soft Tissue

Metrics for Laparoscopic Skills Trainers: The Weakest Link!

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